1、简述

本文主要讲述 C++开源库 CSerialPort 的使用，主要在Windows和Linux两个平台分别应用。
有需要了解 C++开源库 CSerialPort 的小伙伴，可以先去这边文章下了解下为什么要用 CSerialPort 和 CSerialPort 的介绍。

文章链接：【C/C++】轻量级跨平台 开源串口库 CSerialPort

2、效果图

2.1、命令行（不带GUI）

Windows效果如下，Linux一样可以运行，只是串口名称不一样。因为还要切换系统，我就不截Linux图了

2.2、GUI（这里用的Qt）

放开pro里面的这两行即可，注释掉就是命令行，Windows效果图如下。Linux下这台没装Qt，没尝试，串口名称改下问题不大。

DEFINES += SHASHIDI_GUI
CONFIG += SHASHIDI_GUI

3、串口硬件知识普及

因为只测试串口的收发消息，把发送和接收的两个端口短接。找一个杜邦线直接串联起来就可以，这样发什么消息，就收到什么消息。如图是1口和3口短接。

4、核心实现

4.1、Qt的pro文件

Qt 的 pro 文件，如下。这里我用了一个宏来区分，一个是Pro的区分，一个是代码里面的区分

DEFINES += SHASHIDI_GUI
CONFIG += SHASHIDI_GUISHASHIDI_GUI{
QT       += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgetsTARGET = Demo_SerialPortSOURCES += main.cpp \mainwindow.cppFORMS += \mainwindow.uiHEADERS += \mainwindow.h} else {
TARGET = Demo_SerialPort_ConsoleCONFIG += console c++11
CONFIG -= app_bundle
CONFIG -= qtHEADERS += \jsserialport.hSOURCES += main.cpp \jsserialport.cpp
}TEMPLATE = appDEFINES += _UNICODEinclude($$PWD/CSerialPort/CSerialPort.pri)win32*: {#about windows regLIBS += $$PWD/CSerialPort/windows/x86/advapi32.lib#about windows setupapiLIBS += $$PWD/CSerialPort/windows/x86/setupapi.lib
}CONFIG(debug, debug|release) {DESTDIR = $$PWD/bin_debug
} else {DESTDIR = $$PWD/bin_release
}HEADERS += \CommonSerialPort.h

4.2、main文件

#ifdef SHASHIDI_GUI
#include "mainwindow.h"
#include <QApplication>
#else
#include "jsserialport.h"
#include <iostream>
using namespace std;
#endif#ifdef SHASHIDI_GUI
int main(int argc, char *argv[])
{QApplication a(argc, argv);MainWindow w;w.show();return a.exec();
#else
int main()
{JSSerialPort js;js.doWork();return 0;
#endif
}

4.3、SSerialPort类

4.3.1、头文件

#ifndef SSERIALPORT_H
#define SSERIALPORT_H#include <iostream>
#include "CSerialPort/SerialPort.h"
#include "CSerialPort/SerialPortInfo.h"
#include "CommonSerialPort.h"using namespace std;
using namespace itas109;class SSerialPort : public CSerialPortListener
{
public:SSerialPort();// 工作void doWork();// 校验void doCheck(char receiveBuf[], int receiveSize);// 串口信号bool m_flag_serialport = false;// 发出消息void sendMessage();// 读取全部数据void readAllData();private:// 获取端口列表vector<SerialPortInfo> getSerialPortList();// 打开串口bool openSerialPort(const char *portName,int baudRate = 9600,itas109::Parity parity = itas109::Parity::ParityNone,itas109::DataBits dataBits = itas109::DataBits::DataBits8,itas109::StopBits stopbits = itas109::StopBits::StopOne,itas109::FlowControl flowControl = itas109::FlowControl::FlowNone,unsigned int readBufferSize = 4096, int timeout = 0);// 关闭串口void closeSerialPort();// 收到消息void onReadEvent(const char *portName, unsigned int readBufferLen);// 设置串口模式  同步\异步void setSync(bool isSync);// 设置DTRvoid setDTR(bool isDTR);// 设置RTSvoid setRTS(bool isRTS);// 初始化串口void initSerialPort();// 初始化发送消息void initSendMessage();
private:CSerialPort m_SerialPort;   // 串口struct TERMINAL_TO_FIRECONTROL *m_terminal_to_firecontrol;    // 终端到火控struct FIRECONTROL_TO_TERMINAL *m_firecontrol_to_terminal;    // 火控到终端int m_packet_frame_count = 0;   // 报文帧号累计int m_buffer_size = 2048;int m_frame_length = 34;unsigned char m_firstChar = 161;    // 0xA1unsigned char m_secondChar = 177;   // 0xB1unsigned char m_thirdChar = 50;     // 0x32int m_tx = 0;int m_rx = 0;
};#endif // SSERIALPORT_H

4.3.2、源文件

#include "sserialport.h"#include <iostream>
#include <iomanip>SSerialPort::SSerialPort()
{
}void SSerialPort::doWork()
{cout << "doWork: initSerialPort" << endl;initSerialPort();cout << "doWork: initSendMessage" << endl;initSendMessage();cout << "doWork: sendMessage" << endl;sendMessage();cout << "doWork: readAllData" << endl;readAllData();
}void SSerialPort::doCheck(char receiveBuf[], int receiveSize)
{cout << "doCheck: start" << receiveSize << endl;for(int i = 0; i < receiveSize; i++) {if( ( receiveSize - i ) < m_frame_length ) { //不足一帧则退出break;}cout << "doCheck1: " << receiveBuf[i] << endl;if( (receiveBuf[i] == m_secondChar) && (receiveBuf[i+1] == m_firstChar) ) { //发现帧头，取出一帧校验cout << "doCheck: " << receiveBuf[i] << endl;string aa(receiveBuf);cout << "doCheck: " << aa << endl;string tmp_s(aa, i, m_frame_length);cout << "doCheck: " << tmp_s << endl;int data = 0;for(int i = 0; i < (m_frame_length - 1); i++) {data = data + tmp_s[i];}unsigned char data1 = data & 0x7f;if(data1 != tmp_s[m_frame_length - 1]) {i = i + 1;continue;}//校验通过，取值m_firecontrol_to_terminal->send_address = tmp_s[0];m_firecontrol_to_terminal->receive_address = tmp_s[1];m_firecontrol_to_terminal->packet_length = tmp_s[2];m_firecontrol_to_terminal->packet_frame_number_low = tmp_s[3];m_firecontrol_to_terminal->packet_frame_number_high = tmp_s[4];m_firecontrol_to_terminal->light_aiming_status_word_1.all = tmp_s[5];m_firecontrol_to_terminal->light_aiming_status_word_2.all = tmp_s[6];m_firecontrol_to_terminal->laser_ranging_distance_low = tmp_s[7];m_firecontrol_to_terminal->laser_ranging_distance_high = tmp_s[8];m_firecontrol_to_terminal->servo_status_word_1.all = tmp_s[9];m_firecontrol_to_terminal->servo_status_word_2.all = tmp_s[10];m_firecontrol_to_terminal->speed_of_chassis = tmp_s[11];m_firecontrol_to_terminal->chassis_battery_power = tmp_s[12];m_firecontrol_to_terminal->front_flip_arm_angle_low = tmp_s[13];m_firecontrol_to_terminal->front_flip_arm_angle_high = tmp_s[14];m_firecontrol_to_terminal->back_flip_arm_angle_low = tmp_s[15];m_firecontrol_to_terminal->back_flip_arm_angle_high = tmp_s[16];m_firecontrol_to_terminal->relay_status_word.all = tmp_s[17];m_firecontrol_to_terminal->light_azimuth_position_low = tmp_s[18];m_firecontrol_to_terminal->light_azimuth_position_high = tmp_s[19];m_firecontrol_to_terminal->light_pitch_position_low = tmp_s[20];m_firecontrol_to_terminal->light_pitch_position_high = tmp_s[21];m_firecontrol_to_terminal->weapon_azimuth_position_low = tmp_s[22];m_firecontrol_to_terminal->weapon_azimuth_position_high = tmp_s[23];m_firecontrol_to_terminal->weapon_pitch_position_low = tmp_s[24];m_firecontrol_to_terminal->weapon_pitch_position_high = tmp_s[25];m_firecontrol_to_terminal->platform_pitch = tmp_s[26];m_firecontrol_to_terminal->platform_roll_angle = tmp_s[27];m_firecontrol_to_terminal->residual_bullet_low = tmp_s[28];m_firecontrol_to_terminal->residual_bullet_high = tmp_s[29];m_firecontrol_to_terminal->rsve1 = tmp_s[30];m_firecontrol_to_terminal->rsve2 = tmp_s[31];m_firecontrol_to_terminal->rsve3 = tmp_s[32];m_firecontrol_to_terminal->check = tmp_s[33];cout << "doCheck: send_address" << tmp_s << endl;
//            emit sig_check(data1);}}
}vector<SerialPortInfo> SSerialPort::getSerialPortList()
{vector<SerialPortInfo> portNameList = CSerialPortInfo::availablePortInfos();for (size_t i = 0; i < portNameList.size(); i++) {cout << "getSerialPortList:" << portNameList[i].portName << endl;}if ( portNameList.size() == 0 ) {cout << "getSerialPortList is Null" << endl;}return portNameList;
}bool SSerialPort::openSerialPort(const char *portName, int baudRate, Parity parity, DataBits dataBits, StopBits stopbits, FlowControl flowControl, unsigned int readBufferSize, int timeout)
{cout << "openSerialPort-----------------------------------start" << endl;bool isOpen = false;if(getSerialPortList().size() > 0) {m_SerialPort.init(portName, baudRate, parity, dataBits, stopbits, flowControl, readBufferSize);cout << "portName:" << portName << endl;cout << "baudRate:" << baudRate << endl;cout << "parity:" << parity << endl;cout << "dataBits:" << dataBits << endl;cout << "stopbits:" << stopbits << endl;cout << "flowControl:" << flowControl << endl;cout << "readBufferSize:" << readBufferSize << endl;m_SerialPort.setReadIntervalTimeout(timeout);isOpen = m_SerialPort.open();if(!isOpen) {cerr << "open port error" << m_SerialPort.getLastError() << m_SerialPort.getLastErrorMsg() << endl;}} else {cerr << "This Computer no avaiable port!" << endl;}cout << "openSerialPort-----------------------------------end" << endl;return isOpen;
}void SSerialPort::closeSerialPort()
{m_SerialPort.close();
}void SSerialPort::onReadEvent(const char *portName, unsigned int readBufferLen)
{cout << "onReadEvent:" << portName << readBufferLen << endl;if(readBufferLen > 0) {unsigned long recLen = 0;char * str = NULL;str = new char[readBufferLen];recLen = m_SerialPort.readData(str, readBufferLen);if(recLen > 0) {// TODO: 中文需要由两个字符拼接，否则显示为空""cout << "onReadEvent:" << portName << str << recLen << endl;doCheck(str, recLen);} else {}if(str) {delete[] str;str = NULL;}}
}void SSerialPort::sendMessage()
{char message[50];if(m_SerialPort.isOpen()) {// 伺服旋转限制// 高位低位赋值m_terminal_to_firecontrol->packet_frame_number_low = m_packet_frame_count & 0x00ff;m_terminal_to_firecontrol->packet_frame_number_high = (m_packet_frame_count >> 8) & 0x00ff;message[0] = m_firstChar;message[1] = m_secondChar;message[2] = m_thirdChar;cout << "m_terminal_to_firecontrol->packet_frame_number_low: " << m_terminal_to_firecontrol->packet_frame_number_low << endl;message[3] = m_terminal_to_firecontrol->packet_frame_number_low;message[4] = m_terminal_to_firecontrol->packet_frame_number_high;message[5] = m_terminal_to_firecontrol->light_aiming_control_word_1.all;//变化message[6] = m_terminal_to_firecontrol->light_aiming_control_word_2.all;message[7] = m_terminal_to_firecontrol->light_aiming_control_word_3.all;message[8] = m_terminal_to_firecontrol->servo_control_word_1.all;message[9] = m_terminal_to_firecontrol->servo_control_word_2.all;message[10] = m_terminal_to_firecontrol->chassis_control_word_1.all;message[11] = m_terminal_to_firecontrol->relay_control_word.all;message[12] = m_terminal_to_firecontrol->light_azimuth_rotation_speed_low;message[13] = m_terminal_to_firecontrol->light_azimuth_rotation_speed_high;message[14] = m_terminal_to_firecontrol->light_pitch_rotation_speed_low;message[15] = m_terminal_to_firecontrol->light_pitch_rotation_speed_high;message[16] = m_terminal_to_firecontrol->fan_sweep_azimuth_setting_Angle;message[17] = m_terminal_to_firecontrol->fan_sweep_azimuth_fu_setting_Angle;message[18] = m_terminal_to_firecontrol->fan_sweep_pitch_setting_Angle;message[19] = m_terminal_to_firecontrol->fan_sweep_pitch_fu_setting_Angle;message[20] = m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_low;message[21] = m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_high;message[22] = m_terminal_to_firecontrol->quick_boot_pitch_coordinates_low;message[23] = m_terminal_to_firecontrol->quick_boot_pitch_coordinates_high;message[24] = m_terminal_to_firecontrol->left_track_speed_low;message[25] = m_terminal_to_firecontrol->left_track_speed_high;message[26] = m_terminal_to_firecontrol->right_track_speed_low;message[27] = m_terminal_to_firecontrol->right_track_speed_high;message[28] = m_terminal_to_firecontrol->forward_arm_speed;message[29] = m_terminal_to_firecontrol->back_arm_speed;message[30] = m_terminal_to_firecontrol->residual_low;message[31] = m_terminal_to_firecontrol->residual_high;message[32] = m_terminal_to_firecontrol->azimuth_correction;message[33] = m_terminal_to_firecontrol->pitch_correction;message[34] = m_terminal_to_firecontrol->delay_correction;message[35] = m_terminal_to_firecontrol->light_aiming_control_word_4.all;message[36] = m_terminal_to_firecontrol->light_aiming_control_word_5.all;message[37] = m_terminal_to_firecontrol->servo_azimuth_rotation_speed_low;message[38] = m_terminal_to_firecontrol->servo_azimuth_rotation_speed_high;message[39] = m_terminal_to_firecontrol->servo_pitch_rotation_speed_low;message[40] = m_terminal_to_firecontrol->servo_pitch_rotation_speed_high;message[41] = m_terminal_to_firecontrol->firing_servo_start_low;message[42] = m_terminal_to_firecontrol->firing_servo_start_high;message[43] = m_terminal_to_firecontrol->firing_servo_stop_low;message[44] = m_terminal_to_firecontrol->firing_servo_stop_high;message[45] = m_terminal_to_firecontrol->firing_insurance_close_low;message[46] = m_terminal_to_firecontrol->firing_insurance_close_high;message[47] = m_terminal_to_firecontrol->firing_insurance_open_low;message[48] = m_terminal_to_firecontrol->firing_insurance_open_high;int data = 0;for( int i = 0; i < 49; i++ ) {cout << "sendMessage: " << message[i] << endl;data = data + message[i];}message[49] = data & 0x7f;int length = sizeof(message)/sizeof(char);if( !m_flag_serialport ) {// 支持中文并获取正确的长度m_SerialPort.writeData(message, length);} else {}if( m_packet_frame_count >= 0xffff ) {m_packet_frame_count = 1;} else {m_packet_frame_count++;}cout << "sendMessage:" << message << " length: " << length << endl;} else {cerr << "please open serial port first!" << endl;}
}void SSerialPort::readAllData()
{int recLen = 0;char str[4096] = {0};recLen = m_SerialPort.readAllData(str);if(recLen > 0) {// TODO: 中文需要由两个字符拼接，否则显示为空""cout << "readAllData:" << str << " length: " << recLen << endl;doCheck(str, recLen);} else {}
}void SSerialPort::setSync(bool isSync)
{if(isSync) {m_SerialPort.setOperateMode(itas109::SynchronousOperate);} else {m_SerialPort.setOperateMode(itas109::AsynchronousOperate);}
}void SSerialPort::setDTR(bool isDTR)
{m_SerialPort.setDtr(isDTR);
}void SSerialPort::setRTS(bool isRTS)
{m_SerialPort.setRts(isRTS);
}void SSerialPort::initSerialPort()
{
#ifdef WIN32this->openSerialPort("COM3", 115200, itas109::ParityNone,itas109::DataBits8, itas109::StopOne);
#elsethis->openSerialPort("/dev/ttyUSB0", 115200, itas109::ParityNone,itas109::DataBits8, itas109::StopOne);
#endif
}void SSerialPort::initSendMessage()
{cout << "initSendMessage-----------------------------------start" << endl;m_packet_frame_count = 1;m_terminal_to_firecontrol = (struct TERMINAL_TO_FIRECONTROL*)malloc(sizeof(struct TERMINAL_TO_FIRECONTROL));m_firecontrol_to_terminal = (struct FIRECONTROL_TO_TERMINAL*)malloc(sizeof(struct FIRECONTROL_TO_TERMINAL));m_terminal_to_firecontrol->send_address = m_firstChar;m_terminal_to_firecontrol->receive_address = m_secondChar;m_terminal_to_firecontrol->packet_length = m_thirdChar;m_terminal_to_firecontrol->packet_frame_number_low = 1;std::cout << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(m_terminal_to_firecontrol->packet_frame_number_low)<<endl;m_terminal_to_firecontrol->packet_frame_number_high = 0;m_terminal_to_firecontrol->light_aiming_control_word_1.all = 0x01;m_terminal_to_firecontrol->light_aiming_control_word_2.all = 0x00;m_terminal_to_firecontrol->light_aiming_control_word_3.all = 0x00;m_terminal_to_firecontrol->servo_control_word_1.all = 0x09;m_terminal_to_firecontrol->servo_control_word_2.all = 0x02;m_terminal_to_firecontrol->chassis_control_word_1.all = 0x00;m_terminal_to_firecontrol->relay_control_word.all = 0x00;m_terminal_to_firecontrol->light_azimuth_rotation_speed_low = 0x00;m_terminal_to_firecontrol->light_azimuth_rotation_speed_high = 0X00;m_terminal_to_firecontrol->light_pitch_rotation_speed_low = 0;m_terminal_to_firecontrol->light_pitch_rotation_speed_high = 0;m_terminal_to_firecontrol->fan_sweep_azimuth_setting_Angle = 0;m_terminal_to_firecontrol->fan_sweep_azimuth_fu_setting_Angle = 0;m_terminal_to_firecontrol->fan_sweep_pitch_setting_Angle = 0;m_terminal_to_firecontrol->fan_sweep_pitch_fu_setting_Angle = 0;m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_low = 0;m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_high = 0;m_terminal_to_firecontrol->quick_boot_pitch_coordinates_low = 0;m_terminal_to_firecontrol->quick_boot_pitch_coordinates_high = 0;m_terminal_to_firecontrol->left_track_speed_low = 0;m_terminal_to_firecontrol->left_track_speed_high = 0;m_terminal_to_firecontrol->right_track_speed_low = 0;m_terminal_to_firecontrol->right_track_speed_high = 0;m_terminal_to_firecontrol->forward_arm_speed = 0;m_terminal_to_firecontrol->back_arm_speed = 0;m_terminal_to_firecontrol->residual_low = 0;m_terminal_to_firecontrol->residual_high = 0;m_terminal_to_firecontrol->azimuth_correction = 0;m_terminal_to_firecontrol->pitch_correction = 0;m_terminal_to_firecontrol->delay_correction = 0;m_terminal_to_firecontrol->light_aiming_control_word_4.all = 0;m_terminal_to_firecontrol->light_aiming_control_word_5.all = 0;m_terminal_to_firecontrol->servo_azimuth_rotation_speed_low = 0x00;m_terminal_to_firecontrol->servo_azimuth_rotation_speed_high = 0x00;m_terminal_to_firecontrol->servo_pitch_rotation_speed_low = 0;m_terminal_to_firecontrol->servo_pitch_rotation_speed_high = 0;m_terminal_to_firecontrol->firing_servo_start_low = 0;m_terminal_to_firecontrol->firing_servo_start_high = 0;m_terminal_to_firecontrol->firing_servo_stop_low = 0;m_terminal_to_firecontrol->firing_servo_stop_high = 0;m_terminal_to_firecontrol->firing_insurance_close_low = 0;m_terminal_to_firecontrol->firing_insurance_close_high = 0;m_terminal_to_firecontrol->firing_insurance_open_low = 0;m_terminal_to_firecontrol->firing_insurance_open_high = 0;;m_terminal_to_firecontrol->check = 0;cout << "initSendMessage-----------------------------------end" << endl;
}

4.4、Linux下的CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(electro_optical_system)## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTSroscpprospystd_msgs
)## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV REQUIRED)## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()################################################
## Declare ROS messages, services and actions ##
################################################## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )################################################
## Declare ROS dynamic reconfigure parameters ##
################################################## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES electro_optical_system
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)###########
## Build ##
############# Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include${catkin_INCLUDE_DIRS}
)## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/electro_optical_system.cpp
# )## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/electro_optical_system_node.cpp)## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )#############
## Install ##
############## all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )#############
## Testing ##
############### Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_electro_optical_system.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
add_executable(EOS src/main.cpp src/jsserialport.cpp src/CSerialPort/SerialPort.cpp src/CSerialPort/SerialPortInfo.cpp  src/CSerialPort/SerialPortUnixBase.cpp src/CSerialPort/SerialPortBase.cpp  src/CSerialPort/SerialPortInfoUnixBase.cpp  src/CSerialPort/SerialPortInfoBase.cpp) 
target_link_libraries(EOS ${catkin_LIBRARIES}${OpenCV_LIBS})
add_dependencies(EOS ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})